| 题名 | Proprioceptive State Estimation for Amphibious Tactile Sensing |
| 作者 | |
| 发表日期 | 2024
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| DOI | |
| 发表期刊 | |
| ISSN | 1941-0468
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| 卷号 | PP期号:99 |
| 摘要 | This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real time. We present a volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked using a motion capture system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96mm for overall body deformation, corresponding to 2.1% of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications. |
| 相关链接 | [IEEE记录] |
| 学校署名 | 第一
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| 引用统计 | |
| 成果类型 | 期刊论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/833849 |
| 专题 | 工学院_机械与能源工程系 工学院_海洋科学与工程系 创新创意设计学院 |
| 作者单位 | 1.Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China 2.Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China 3.School of Design, Southern University of Science and Technology, Shenzhen, China |
| 第一作者单位 | 机械与能源工程系 |
| 第一作者的第一单位 | 机械与能源工程系 |
| 推荐引用方式 GB/T 7714 |
Ning Guo,Xudong Han,Shuqiao Zhong,et al. Proprioceptive State Estimation for Amphibious Tactile Sensing[J]. IEEE Transactions on Robotics,2024,PP(99).
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| APA |
Ning Guo.,Xudong Han.,Shuqiao Zhong.,Zhiyuan Zhou.,Jian Lin.,...&Chaoyang Song.(2024).Proprioceptive State Estimation for Amphibious Tactile Sensing.IEEE Transactions on Robotics,PP(99).
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| MLA |
Ning Guo,et al."Proprioceptive State Estimation for Amphibious Tactile Sensing".IEEE Transactions on Robotics PP.99(2024).
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| 条目包含的文件 | 条目无相关文件。 | |||||
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